Study On The Manipulator For Weight Counterbalance And Intelligent Gripping Of The Coppers In Packing Production Line

The weight counterbalance process in packing production line which is using byJinchuan Group Limited Company, Its weight counterbalance structure uses vacuumgrip device to grip the coppers. However, the vacuum grip device cannot grip thecoppers when the coppers are particularly uneven. This thesis studied mainly on thepacking production line to design the manipulator which can near to the object soughtautomatically based on machine vision, then intelligent gripping of the coppers. Sothat we can increase production efficiency and enhance the overall technology andequipment level of the cathode copper processing. The detail research contents of thispaper are showed as follows:1. According to the equipment complex and the whole process of the packingproduction line, the machinery structural parts and its working principle wereintroduced. At the same time,the realization of control system was designed.2． This paper analyzed the hand of the manipulator, and proposed the overalldesign of the weight system mechanical structure and the mechanical gripper designstructure. The article studied the problem of the gripper structure in the adaptationelements, copper contact detection and so on. It also selected the robot-driven andcontrol methods.3. Through the robot intelligent gripping technology, the paper studied theindustrial robot intelligent grip based on computer vision. It analyzed the key issuesof the industrial robots such as intelligent capture of target identification, orientationto strike and grasping the planning. It put emphasis on the basic theories and methodsof the industrial robot vision guided technology.4. The paper put gripping task of positioning the monolithic copper cathode as theresearch background, used computer vision technology to guide, obtaining thelocation of the target copper in the image plane center, and used the laser sensors toobtain depth information of the target copper, directly to the camera referencecoordinate system mapping to the robot coordinate system, getting the actualcoordinates of the center of the target copper, and lead ultimately to the end of theactuator to complete the grip on the target.This subject used positioning and accurate grip about monolithic copper inworking scene as its entry point, and the theory and technology of machine vision to be its basis. Study on the intelligent gripping of industrial robot, we raised a proposalto grip the object of monolithic copper.At the same time, we studied the method forsolving of the object identification, pose seeking and target grasp planning. Emergingtechnology was cited to the application of industrial robot, increasing the perceptionand intelligence of industrial robot. Besides, the reliability and automation level of thecopper gripping were improved. This subject provide a theoretical reference for thedevelopment of metal automatic packaging production line.